In a small bowl, combine warm milk and yeast. Let it sit for about 5 minutes, until foamy.

In a large bowl, mix melted butter, sugar, eggs, orange zest, orange juice, and vanilla extract.

Pour the yeast mixture into the butter mixture and stir until well combined.

Gradually add flour and salt, mixing until the dough starts to come together.

Knead the dough on a lightly floured surface for about 5-7 minutes, until smooth and elastic.

Place the kneaded dough in a greased bowl, cover it with a clean towel, and let it rise in a warm place for about 1 hour, or until it doubles in size.

Punch down the risen dough and roll it out into a rectangle on a floured surface.

Spread a thin layer of softened butter over the dough.

In a small bowl, mix together sugar and additional orange zest. Sprinkle this mixture evenly over the buttered dough.

Roll the dough tightly into a log, then slice it into 12 equal pieces.

Place the rolls evenly spaced in a greased baking dish. Cover and let rise for another 30 minutes.

Preheat your oven to 350°F (175°C).

Bake rolls for about 25-30 minutes, or until golden brown.

While the rolls are baking, whisk together the glaze ingredients until smooth.

Once the rolls are done baking, drizzle the glaze over them while they are still warm.